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I think it is because of the mutex lock in the goal callback. As long as one client is processing, the others cannot access the callback and can therefore not be rejected. In general every client executes the goal callback in a new thread so you want to be able to run this function multiple times (even if it is just to reject new clients) to allow for concurrency.

And yes, it is safe to execute longer calculations in the execute callback. This can last as long as you like if the client did not set a timeout for this action.